Aiming at the control problem of servo system with friction nonlinearity, we introduced the improved LuGre friction model of system. We used adaptive fuzzy system to approximate the nonlinear part and unknown parameters in system online. The purpose is to avoid the complex calculation in deducing the adaptive law of each unknown parameter. By using backstepping approach and recursively selecting the Lyapunov function, introducing the virtual control quantity, we designed an adaptive fuzzy controller with state feedback. Then we analyzed the stability of adaptive fuzzy controller. We carried out the system response analysis and system robustness analysis. We used sinusoidal signal as simulation input signal. Two cases were considered in simulation test comparing backstepping control with conventional PID control. Simulation results show that the proposed backstepping control has better position tracking performance and robustness than conventional PID control.

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